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Explicit Model Predictive Control


U. Mäder, R. Cagienard, M. Morari

Lecture Notes in Control and Information Sciences (LNCIS), vol. 346, Advanced Strategies in Control Systems with Input and Output Constraints, pp. 237 - 271, edited by Sophie Tarbouriech, Germain Garcia, Adolf H. Glattfelder

In this contribution, explicit model predictive control is applied to the benchmark problems. Emphasis is put on the reduction of complexity both for the off-line and on-line computation. For the pendulum, a control-invariant set is computed first. By using this set in the subsequent optimal control problem, a simple solution can be attained which guarantees invariance of the resulting closed-loop system by construction. The computation of such invariant sets for systems with a partially constrained state-space is discussed. For the reactor, a different approach was chosen. First, a simple model predictive control problem is solved explicitly which results in a low-complexity controller. Invariance is established a posteriori by analysing the explicit control law. Both approaches employ an analysis method to prove stability.


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% Autogenerated BibTeX entry
@Article { M_dCag:2007:IFA_2656,
    author={U. M{\"a}der and R. Cagienard and M. Morari},
    title={{Explicit Model Predictive Control}},
    journal={Lecture Notes in Control and Information Sciences (LNCIS)},
    volume={346, Advanced Strategies in Control Systems with Input and
	  Output Constraints},
    pages={237 -- 271},
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